{"title":"基于层次地标的n连杆旋转机械臂导航","authors":"Ravinesh Chand, Sandeep Kumar, R. P. Chand","doi":"10.1109/NILES53778.2021.9600539","DOIUrl":null,"url":null,"abstract":"This paper presents a dynamic n-link revolute robotic arm that can perform a sequence of tasks and navigate via hierarchal landmarks to its target. The stability condition with multiple Lyapunov functions for switched systems is considered. The multiple Lyapunov functions are formulated from the Lyapunov-based Control Scheme (LbCS) as a tool for analyzing Lyapunov stability. A new set of switched nonlinear, time-invariant, continuous, and stabilizing velocity controllers of the proposed Rn robotic arm are developed.","PeriodicalId":249153,"journal":{"name":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"182 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Navigation of an n-link Revolute Robotic Arm via Hierarchal Landmarks\",\"authors\":\"Ravinesh Chand, Sandeep Kumar, R. P. Chand\",\"doi\":\"10.1109/NILES53778.2021.9600539\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a dynamic n-link revolute robotic arm that can perform a sequence of tasks and navigate via hierarchal landmarks to its target. The stability condition with multiple Lyapunov functions for switched systems is considered. The multiple Lyapunov functions are formulated from the Lyapunov-based Control Scheme (LbCS) as a tool for analyzing Lyapunov stability. A new set of switched nonlinear, time-invariant, continuous, and stabilizing velocity controllers of the proposed Rn robotic arm are developed.\",\"PeriodicalId\":249153,\"journal\":{\"name\":\"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)\",\"volume\":\"182 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-10-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/NILES53778.2021.9600539\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/NILES53778.2021.9600539","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Navigation of an n-link Revolute Robotic Arm via Hierarchal Landmarks
This paper presents a dynamic n-link revolute robotic arm that can perform a sequence of tasks and navigate via hierarchal landmarks to its target. The stability condition with multiple Lyapunov functions for switched systems is considered. The multiple Lyapunov functions are formulated from the Lyapunov-based Control Scheme (LbCS) as a tool for analyzing Lyapunov stability. A new set of switched nonlinear, time-invariant, continuous, and stabilizing velocity controllers of the proposed Rn robotic arm are developed.
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